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ArduCopter: Get barometer data in terms of AP_Baro interface

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* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
This commit is contained in:
Pat Hickey 2011-11-29 20:37:50 -08:00
parent bd00b629e7
commit 67436d7ff2
4 changed files with 21 additions and 24 deletions
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2
ArduCopter/ArduCopter.pde
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@ -796,7 +796,7 @@ static void medium_loop()
// Do an extra baro read // Do an extra baro read
// --------------------- // ---------------------
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
barometer.Read(); barometer.read();
#endif #endif
// agmatthews - USERHOOKS // agmatthews - USERHOOKS

10
ArduCopter/GCS_Mavlink.pde
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@ -237,9 +237,9 @@ static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
mavlink_msg_scaled_pressure_send( mavlink_msg_scaled_pressure_send(
chan, chan,
micros(), micros(),
(float)barometer.Press/100.0, (float)barometer.get_pressure()/100.0,
(float)(barometer.Press-ground_pressure)/100.0, (float)(barometer.get_pressure()-ground_pressure)/100.0,
(int)(barometer.Temp*10)); (int)(barometer.get_temperature()*10));
} }
static void NOINLINE send_raw_imu3(mavlink_channel_t chan) static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
@ -251,8 +251,8 @@ static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
mag_offsets.y, mag_offsets.y,
mag_offsets.z, mag_offsets.z,
compass.get_declination(), compass.get_declination(),
barometer.RawPress, barometer.get_raw_pressure(),
barometer.RawTemp, barometer.get_raw_temp(),
imu.gx(), imu.gy(), imu.gz(), imu.gx(), imu.gy(), imu.gz(),
imu.ax(), imu.ay(), imu.az()); imu.ax(), imu.ay(), imu.az());
} }

14
ArduCopter/sensors.pde
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@ -22,7 +22,7 @@ static void init_barometer(void)
gcs_update(); // look for inbound hil packets for initialization gcs_update(); // look for inbound hil packets for initialization
#endif #endif
ground_temperature = barometer.Temp; ground_temperature = barometer.get_temperature();
int i; int i;
// We take some readings... // We take some readings...
@ -30,7 +30,7 @@ static void init_barometer(void)
delay(20); delay(20);
// get new data from absolute pressure sensor // get new data from absolute pressure sensor
barometer.Read(); barometer.read();
//Serial.printf("init %ld, %d, -, %ld, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press); //Serial.printf("init %ld, %d, -, %ld, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press);
} }
@ -43,9 +43,9 @@ static void init_barometer(void)
#endif #endif
// Get initial data from absolute pressure sensor // Get initial data from absolute pressure sensor
barometer.Read(); barometer.read();
ground_pressure = barometer.Press; ground_pressure = barometer.get_pressure();
ground_temperature = (ground_temperature * 9 + barometer.Temp) / 10; ground_temperature = (ground_temperature * 9 + barometer.get_temperature()) / 10;
//Serial.printf("init %ld, %d, -, %ld, %ld, -, %d, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press, ground_temperature, ground_pressure); //Serial.printf("init %ld, %d, -, %ld, %ld, -, %d, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press, ground_temperature, ground_pressure);
} }
@ -90,8 +90,8 @@ static int32_t read_barometer(void)
{ {
float x, scaling, temp; float x, scaling, temp;
barometer.Read(); barometer.read();
abs_pressure = barometer.Press; abs_pressure = barometer.get_pressure();
//Serial.printf("%ld, %ld, %ld, %ld\n", barometer.RawTemp, barometer.RawPress, barometer.Press, abs_pressure); //Serial.printf("%ld, %ld, %ld, %ld\n", barometer.RawTemp, barometer.RawPress, barometer.Press, abs_pressure);

19
ArduCopter/test.pde
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@ -875,17 +875,14 @@ test_baro(uint8_t argc, const Menu::arg *argv)
while(1){ while(1){
delay(100); delay(100);
barometer.Read(); int32_t alt = read_barometer(); /* calls barometer.read() */
delay(100); int32_t pres = barometer.get_pressure();
baro_alt = read_barometer(); int16_t temp = barometer.get_temperature();
int32_t raw_pres = barometer.get_raw_pressure();
int temp_alt = (barometer._offset_press - barometer.RawPress) << 1; // invert and scale int32_t raw_temp = barometer.get_raw_temp();
baro_rate = (temp_alt - old_baro_alt) * 10; Serial.printf_P(PSTR("alt: %ldcm, pres: %ldmbar, temp: %d/100degC,"
old_baro_alt = temp_alt; " raw pres: %ld, raw temp: %ld\n"),
alt, pres ,temp, raw_pres, raw_temp);
// 1 2 3 4 5 1 2 3 4 5
Serial.printf_P(PSTR("Baro: %dcm, rate:%d, %ld, %ld, %d\n"), baro_alt, climb_rate, barometer.RawTemp, barometer.RawPress, temp_alt);
//Serial.printf_P(PSTR("Baro, %d, %ld, %ld, %ld, %ld\n"), baro_alt, barometer.RawTemp, barometer.RawTemp2, barometer.RawPress, barometer.RawPress2);
if(Serial.available() > 0){ if(Serial.available() > 0){
return (0); return (0);
} }